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SITL configs: improve L1 tracking and increase backtransition duration

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-decrease L1 period for tighter mission tracking in fw mode
- increase backtransition duration, we can now do this is we have active
deceleration control

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-04-02 13:59:12 +03:00
committed by Daniel Agar
parent 40b1043e12
commit 0d8d4cd6e0
4 changed files with 7 additions and 0 deletions
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ROMFS/px4fmu_common/init.d-posix/1030_plane
+2
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@@ -28,6 +28,8 @@ then
param set FW_RR_I 0.02
param set FW_RR_P 0.22
param set FW_L1_PERIOD 12
param set FW_W_EN 1
param set MIS_LTRMIN_ALT 30
ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
+2
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@@ -12,6 +12,7 @@ then
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set FW_L1_PERIOD 12
param set MC_ROLLRATE_P 0.3
@@ -38,6 +39,7 @@ then
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
param set VT_TYPE 2
param set VT_B_TRANS_DUR 8
fi
ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
+1
View File
@@ -12,6 +12,7 @@ then
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set FW_L1_PERIOD 12
param set MC_ROLLRATE_P 0.3
ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
+2
View File
@@ -12,6 +12,7 @@ then
param set FW_AIRSPD_MAX 25
param set FW_AIRSPD_MIN 14
param set FW_AIRSPD_TRIM 16
param set FW_L1_PERIOD 12
param set MC_ROLLRATE_P 0.3
@@ -39,6 +40,7 @@ then
param set VT_TILT_TRANS 1.2
param set VT_ELEV_MC_LOCK 0
param set VT_TYPE 1
param set VT_B_TRANS_DUR 8
fi